KR20230170568A - 로봇의 동작 궤도 생성 방법, 동작 궤도 생성 장치, 로봇 시스템, 및 프로그램 - Google Patents
로봇의 동작 궤도 생성 방법, 동작 궤도 생성 장치, 로봇 시스템, 및 프로그램 Download PDFInfo
- Publication number
- KR20230170568A KR20230170568A KR1020230070617A KR20230070617A KR20230170568A KR 20230170568 A KR20230170568 A KR 20230170568A KR 1020230070617 A KR1020230070617 A KR 1020230070617A KR 20230070617 A KR20230070617 A KR 20230070617A KR 20230170568 A KR20230170568 A KR 20230170568A
- Authority
- KR
- South Korea
- Prior art keywords
- robot
- motion trajectory
- priority
- work
- trajectory
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000012545 processing Methods 0.000 claims abstract description 36
- 230000008569 process Effects 0.000 claims abstract description 31
- 238000003466 welding Methods 0.000 claims description 106
- 238000011156 evaluation Methods 0.000 claims description 41
- 230000006870 function Effects 0.000 claims description 14
- 238000010801 machine learning Methods 0.000 claims description 5
- 238000012854 evaluation process Methods 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims 1
- 238000004904 shortening Methods 0.000 abstract description 9
- 230000036544 posture Effects 0.000 description 78
- 230000010365 information processing Effects 0.000 description 52
- 238000010586 diagram Methods 0.000 description 26
- 210000000707 wrist Anatomy 0.000 description 20
- 238000004891 communication Methods 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 230000009466 transformation Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 3
- 238000005401 electroluminescence Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
- B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40519—Motion, trajectory planning
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45104—Lasrobot, welding robot
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45135—Welding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2022094604A JP2023180920A (ja) | 2022-06-10 | 2022-06-10 | ロボットの動作軌道生成方法、動作軌道生成装置、ロボットシステム、およびプログラム |
| JPJP-P-2022-094604 | 2022-06-10 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| KR20230170568A true KR20230170568A (ko) | 2023-12-19 |
Family
ID=89046854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1020230070617A KR20230170568A (ko) | 2022-06-10 | 2023-06-01 | 로봇의 동작 궤도 생성 방법, 동작 궤도 생성 장치, 로봇 시스템, 및 프로그램 |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20230398688A1 (zh) |
| JP (1) | JP2023180920A (zh) |
| KR (1) | KR20230170568A (zh) |
| CN (1) | CN117207174A (zh) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000094131A (ja) | 1998-09-25 | 2000-04-04 | Kobe Steel Ltd | 溶接姿勢教示方法及びその装置 |
-
2022
- 2022-06-10 JP JP2022094604A patent/JP2023180920A/ja active Pending
-
2023
- 2023-05-16 US US18/318,051 patent/US20230398688A1/en active Pending
- 2023-06-01 KR KR1020230070617A patent/KR20230170568A/ko unknown
- 2023-06-09 CN CN202310685404.8A patent/CN117207174A/zh active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000094131A (ja) | 1998-09-25 | 2000-04-04 | Kobe Steel Ltd | 溶接姿勢教示方法及びその装置 |
Also Published As
| Publication number | Publication date |
|---|---|
| US20230398688A1 (en) | 2023-12-14 |
| CN117207174A (zh) | 2023-12-12 |
| JP2023180920A (ja) | 2023-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11213945B2 (en) | Robot simulator, robot system and simulation method | |
| EP2375298B1 (en) | Programming method for a robot, programming apparatus for a robot, and robot control system | |
| US9149931B2 (en) | Robot system, robot control device and method for controlling robot | |
| US9186792B2 (en) | Teaching system, teaching method and robot system | |
| JP5154616B2 (ja) | オフラインティーチング方法 | |
| JP5268495B2 (ja) | オフライン教示データの作成方法及びロボットシステム | |
| US20070242073A1 (en) | Robot simulation apparatus | |
| KR20150044812A (ko) | 티칭 시스템 및 티칭 방법 | |
| Fang et al. | Robot path and end-effector orientation planning using augmented reality | |
| JP2004094399A (ja) | 多関節マニピュレータの制御方法及びその制御プログラム、並びにその制御システム | |
| WO2015137162A1 (ja) | 制御装置、ロボットシステム、および制御用データ生成方法 | |
| JP2008020993A (ja) | 作業用ロボットの教示データ作成装置 | |
| JP2019089201A (ja) | 教示データ作成装置、教示データ作成装置の制御方法及びロボットシステム | |
| KR101787865B1 (ko) | 다관절 링크 기구의 역운동학 해법, 및 이 역운동학 해법을 이용한 교시 데이터 작성 장치 | |
| KR20230170568A (ko) | 로봇의 동작 궤도 생성 방법, 동작 궤도 생성 장치, 로봇 시스템, 및 프로그램 | |
| JP4498072B2 (ja) | 溶接ロボット用ポジショナの設定方法 | |
| JP2018118330A (ja) | 演算装置、演算方法、演算プログラムおよびロボットシステム | |
| JPH06134684A (ja) | ロボット軌道を教示するための方法 | |
| JP2000112510A (ja) | ロボットの教示方法及びその装置 | |
| JPH0699376A (ja) | ロボット軌道を教示するための方法及びシステム | |
| US11654562B2 (en) | Apparatus, robot control device, robot system, and method of setting robot coordinate system | |
| US20220355478A1 (en) | Robot slider position setting device, robot slider position setting method, and robot slider position setting program | |
| KR20230170569A (ko) | 로봇의 이동 경로 생성 방법, 이동 경로 생성 장치, 로봇 시스템, 및 프로그램 | |
| CN117561146A (zh) | 优化辅助装置 | |
| JP2017121687A (ja) | ロボットシステムの制御方法 |